Beat Küng
5 years ago
committed by
David Sidrane
5 changed files with 57 additions and 180 deletions
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/****************************************************************************
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* |
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* Copyright (C) 2019 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/*
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* @file timer_config.c |
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* |
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* Configuration data for the stm32 pwm_servo, input capture and pwm input driver. |
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* |
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* Note that these arrays must always be fully-sized. |
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*/ |
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#include <stdint.h> |
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#include <chip.h> |
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#include <stm32_gpio.h> |
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#include <stm32_tim.h> |
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#include <drivers/drv_pwm_output.h> |
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#include <px4_arch/io_timer.h> |
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#include "board_config.h" |
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__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = { |
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{ |
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.base = STM32_TIM1_BASE, |
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.clock_register = STM32_RCC_APB2ENR, |
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.clock_bit = RCC_APB2ENR_TIM1EN, |
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.clock_freq = STM32_APB2_TIM1_CLKIN, |
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.vectorno = STM32_IRQ_TIM1CC, |
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}, |
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{ |
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.base = STM32_TIM4_BASE, |
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.clock_register = STM32_RCC_APB1ENR, |
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.clock_bit = RCC_APB1ENR_TIM4EN, |
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.clock_freq = STM32_APB1_TIM4_CLKIN, |
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.vectorno = STM32_IRQ_TIM4 |
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} |
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}; |
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__EXPORT const io_timers_channel_mapping_t io_timers_channel_mapping = { |
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.element = { |
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{ |
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.first_channel_index = 0, |
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.channel_count = 4, |
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}, |
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{ |
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.first_channel_index = 4, |
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.channel_count = 2, |
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} |
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} |
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}; |
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__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { |
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{ |
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.gpio_out = GPIO_TIM1_CH4OUT, |
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.gpio_in = GPIO_TIM1_CH4IN, |
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.timer_index = 0, |
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.timer_channel = 4, |
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.ccr_offset = STM32_GTIM_CCR4_OFFSET, |
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF |
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}, |
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{ |
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.gpio_out = GPIO_TIM1_CH3OUT, |
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.gpio_in = GPIO_TIM1_CH3IN, |
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.timer_index = 0, |
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.timer_channel = 3, |
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.ccr_offset = STM32_GTIM_CCR3_OFFSET, |
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.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF |
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}, |
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{ |
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.gpio_out = GPIO_TIM1_CH2OUT, |
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.gpio_in = GPIO_TIM1_CH2IN, |
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.timer_index = 0, |
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.timer_channel = 2, |
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.ccr_offset = STM32_GTIM_CCR2_OFFSET, |
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.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF |
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}, |
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{ |
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.gpio_out = GPIO_TIM1_CH1OUT, |
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.gpio_in = GPIO_TIM1_CH1IN, |
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.timer_index = 0, |
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.timer_channel = 1, |
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.ccr_offset = STM32_GTIM_CCR1_OFFSET, |
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.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF |
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}, |
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{ |
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.gpio_out = GPIO_TIM4_CH2OUT, |
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.gpio_in = GPIO_TIM4_CH2IN, |
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.timer_index = 1, |
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.timer_channel = 2, |
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.ccr_offset = STM32_GTIM_CCR2_OFFSET, |
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.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF |
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}, |
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{ |
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.gpio_out = GPIO_TIM4_CH3OUT, |
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.gpio_in = GPIO_TIM4_CH3IN, |
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.timer_index = 1, |
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.timer_channel = 3, |
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.ccr_offset = STM32_GTIM_CCR3_OFFSET, |
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.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF |
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} |
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}; |
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@ -0,0 +1,52 @@
@@ -0,0 +1,52 @@
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/****************************************************************************
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* |
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* Copyright (C) 2019 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#include <px4_arch/io_timer_hw_description.h> |
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constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { |
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initIOTimer(Timer::Timer1), |
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initIOTimer(Timer::Timer4), |
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}; |
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constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { |
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}), |
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}), |
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}), |
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}), |
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}), |
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}), |
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}; |
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constexpr io_timers_channel_mapping_t io_timers_channel_mapping = |
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initIOTimerChannelMapping(io_timers, timer_io_channels); |
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